function info = vel_s_traj_info(jerk_value,t_jerk,t_ed,t_half_idle,period,pos_st)
%     % 返回一个1*3行向量，用于获取当前时间的pos，vel和acc
%     info = zeros(1,3);
%     info(2) = vel_s_traj_vel(jerk_value,t_jerk,t_ed,t_half_idle,t);
%     info(3) = vel_s_traj_acc(jerk_value,t_jerk,t_ed,t_half_idle,t);
%     info(1) = integral(@(time) vel_s_traj_vel(jerk_value,t_jerk,t_ed,t_half_idle,time),0,t)+pos_st;


% 返回一个1*3行向量，用于获取当前时间的pos，vel和acc
    steps = (t_ed+t_half_idle)*2/period+1;
%     steps = cast(steps,'int64');
    info = zeros(steps,3);
    info(1,1) = pos_st;
    for i = 2:1:steps
%         info(i,2) = vel_s_traj_vel(jerk_value,t_jerk,t_ed,t_half_idle,(i-1)*period);
        info(i,3) = vel_s_traj_acc(jerk_value,t_jerk,t_ed,t_half_idle,(i-1)*period);
        info(i,2) = info(i-1,2)+info(i-1,3)*period;
        info(i,1) = info(i-1,1)+info(i-1,2)*period;
        % info(i,1) = integral(@(time) vel_s_traj_vel(jerk_value,t_jerk,t_ed,t_half_idle,time),0,t)+pos_st;
    end
end